CN108113749B - 距解剖腔的壁的距离的可视化 - Google Patents
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Abstract
本发明题为“距解剖腔的壁的距离的可视化”。所述实施方案包括具有显示器和处理器的系统。处理器被配置成通过以下操作来修改包括解剖腔的壁的表征的图像:将表征体内工具的图标叠加在图像的与体内工具在解剖腔内的位置对应的部分上,以及在体内工具继续在体内工具指向的方向上朝壁移动的情况下将标记叠加在壁的表征的与体内工具将遇到壁的位置对应的部分上。处理器还被配置成在显示器上显示经修改的图像。还描述了其它实施方案。
Description
相关申请的交叉引用
本申请涉及2016年11月29日提交的名称为“Improved visualization ofanatomical cavities”美国申请号15/364,144且代理人参考号为1002-1460/ID-839/BIO5678USNP的申请,该申请与本申请同日提交,其公开内容通过引用并入本文。
技术领域
本发明涉及医疗图像领域。
背景技术
计算机断层摄影(CT)扫描获取解剖结构的扫描部分的放射密度,也称为放射不透性。放射密度以霍斯菲尔德(Hounsfield)单位(HU)进行测量,其中空气的HU=-1000,水的HU=0,并且皮质骨的HU=+3000。在CT图像中,所获取的放射密度值被映射到不同的灰度值。通常,在CT图像中,空气以黑色呈现,皮质骨以白色呈现,并且其它材料以变化的灰色色调呈现。
传统上,介入放射科医师已被训练成使用头部的二维(2D)图像来导航受治疗者的头部。例如,在鼻窦规程期间,介入放射科医师可参考受治疗者头部的三个计算机断层摄影(CT)切片:轴向切片、冠状切片以及矢状切片。
其公开内容以引用方式并入本文的美国专利8,532,738描述了一种方法,该方法包括构造体腔的模拟表面,并将探头的远侧端部按压贴靠在体腔的壁上。在将远侧端部按压贴靠在壁上的同时,从探头接收指示探头在体腔内的位置的位置测量值,并且从探头接收指示远侧端部和壁之间的力的力测量值。在检测到力测量值超过预定量时,在由位置测量值指示的位置处在模拟表面中创建扭曲,以便形成扭曲表面。随后,显示扭曲表面。
其公开内容以引用方式并入本文的美国专利7,924,279描述了一种用于可视化3D体积的系统,特别是用于医疗应用,该系统包括用于接收表征3D体积的体素值的三维数据集的输入设备。该数据集存储在存储装置中。处理器将体积从预定的视点投影到虚拟2D投影屏上。对于2D投影图像的每个像素,通过像素并通过体积投射射线。使用一种协议,该协议在沿着体积内的射线位置穿过时根据射线位置确定渲染算法和/或渲染参数。对于每个射线位置,所确定的渲染算法/渲染参数用于基于射线位置的预定范围内的至少一个体素值来计算对像素的像素值的贡献。输出设备用于提供在显示器上渲染的2D图像的像素值。
发明内容
根据本发明的一些实施方案,提供包括显示器和处理器的系统。处理器被配置成通过以下操作来修改包括解剖腔的壁的表征的图像:将表征体内工具的图标叠加在图像的与体内工具在解剖腔内的位置对应的部分上,以及在体内工具继续在体内工具指向的方向上朝壁移动的情况下将标记叠加在壁的表征的与体内工具将遇到壁的位置对应的部分上。处理器还被配置成在显示器上显示经修改的图像。
在一些实施方案中,处理器被配置成通过从体内工具的远侧末端投影虚拟射线来识别体内工具将遇到壁的位置。
在一些实施方案中,以三维渲染图像的至少一部分。
在一些实施方案中,解剖腔是鼻窦。
在一些实施方案中,解剖腔是鼻腔。
在一些实施方案中,图像是计算机断层摄影(CT)图像。
在一些实施方案中,图像是磁共振成像(MRI)图像。
根据本发明的一些实施方案,还提供一种方法,该方法包括使用处理器通过以下操作来修改包括解剖腔的壁的表征的图像:将表征体内工具的图标叠加在图像的与体内工具在解剖腔内的位置对应的部分上,以及在体内工具继续在体内工具指向的方向上朝壁移动的情况下将标记叠加在壁的表征的与体内工具将遇到壁的位置对应的部分上。该方法还包括显示经修改的图像。
根据本发明的一些实施方案,还提供包括其中存储程序指令的有形非暂态计算机可读介质的计算机软件产品。指令在由处理器读取时,促使处理器通过以下操作来修改包括解剖腔的壁的表征的图像:将表征体内工具的图标叠加在图像的与体内工具在解剖腔内的位置对应的部分上,以及在体内工具继续在体内工具指向的方向上朝壁移动的情况下将标记叠加在壁的表征的与体内工具将遇到壁的位置对应的部分上。该指令还促使处理器显示经修改的图像。
结合附图,从本发明的实施方案的以下详细说明,将更全面地理解本发明,其中:
附图说明
图1是根据本发明的一些实施方案的用于指导医疗规程的系统的示意图;并且
图2示出根据本发明的一些实施方案的原始CT图像切片和经修改的CT图像切片。
具体实施方式
概述
如上所述,介入放射科医师通常使用2D图像(或“切片”)用于导航。然而,使用2D图像的挑战在于缺乏包含在此类图像中的深度信息。例如,当使用2D图像来导航解剖腔内的导管时,可难以探知导管与腔的壁之间的距离。
本发明的实施方案通过在2D图像中提供解剖腔的增强的表征来解决该挑战。在该增强的表征中,经由从所显示的2D切片下面引入形态信息,给予腔以三维(3D)外观。例如,处理器可用虚拟光源“照明”腔,使得位于所显示的2D切片下面的腔的壁对于定位在虚拟光源附近的虚拟摄像机而言是“可视的”。然后可以用对应于虚拟摄像机的视图的具有变化的亮度色调的颜色渲染腔壁。
一些实施方案通过将表征导管的图标以及指示导管与腔壁的距离的标记叠加在图像上来进一步增强图像。为了产生标记,处理器可从导管的末端投影虚拟射线,并且在虚拟射线碰撞腔壁的点处将标记显示在图像中。
系统描述
首先参考图1,图1是根据本发明的一些实施方案的用于指导医疗规程的系统20的示意图。
图1描绘医师26对受治疗者22执行规程。在该规程期间,医师26将体内工具28诸如导管插入受治疗者22的鼻腔和/或鼻窦中,并且然后使用工具28在鼻腔和/或鼻窦上探测和/或操作。通常,使用例如磁跟踪系统跟踪工具的位置和取向。例如,系统20可包括一个或多个磁场发生器24,磁场发生器24在规程期间生成相应的磁场。这些场在耦合到工具28的一个或多个磁传感器中感应出相应的电压。基于这些感应电压,处理器34探知工具相对于跟踪系统的坐标系的位置和取向。
通常,在规程之前,使用例如CT扫描仪来获取受治疗者头部的体积。随后,在规程期间,处理器34将从该体积获得并且被如下所述增强的至少一个图像切片32显示在显示器30上。医生然后可参考切片32,以决定如何最佳地导航受治疗者的鼻腔和/或鼻窦。
应当注意,如在本申请(包括权利要求书)中使用的术语“图像切片”是指通过对三维对象的特定横截面进行成像,或通过获得对象的三维图像的特定横截面而获取的任何二维图像。(图像切片在本文中可另选地被简称为“图像”或“切片”。)例如,在规程之前,可通过在连续的深度处获取一叠矢状图像切片来获取受治疗者的头部的体积。随后,处理器34可通过从该体积获得原始矢状图像切片中的任一个,或者通过获得该体积的横截面来从该体积导出“图像切片”,以导出具有另一合适取向的新切片。(通常,在规程之前执行新切片的导出。)
通常,在规程之前,处理器34将磁跟踪系统与CT扫描仪配准,例如如美国专利申请15/290,968中所述,其公开内容以引用方式并入本文。该配准规程的输出是变换,处理器随后使用该变换计算体内工具的远侧端部相对于图像切片32的位置。
一般来讲,处理器34可被体现为单个处理器或协作式联网的或集群的处理器集。处理器34通常是编程化数字计算装置,该装置包括中央处理单元(CPU)、随机存取存储器(RAM)、非易失性辅助存储装置诸如硬盘驱动器或CDROM驱动器、网络接口和/或外围装置。如本领域中所公知的,将包括软件程序的程序代码和/或数据加载到RAM中用于由CPU执行和处理,并且生成结果用于显示、输出、传输或存储。程序代码和/或数据可以电子形式例如经网络下载到计算机,或者,另选地或除此之外,程序代码和/或数据可提供和/或存储在诸如磁性存储器、光学存储器或电子存储器的非暂态有形介质上。此类程序代码和/或数据在提供给处理器之后,产生被配置成执行本文所述任务的机器或专用计算机。
现在参考图2,图2示出根据本发明的一些实施方案的原始CT图像切片31和经修改的CT图像切片32。
如上所述,CT图像通常以黑色呈现空气,以白色呈现皮质骨,并且以变化的灰色色调呈现其它材料。例如,图像切片31包括与解剖腔对应的在本文中被称为空隙36的黑色部分;具体地,空隙36对应于受治疗者的鼻腔。(换句话讲,图像切片31“切穿”鼻腔,使得鼻腔内部作为空隙36出现在图像切片中。)图像切片31还包括对应于骨和/或围绕鼻腔的其它组织的白色或灰色区域38。
在本发明的实施方案中,处理器34修改图像切片31,以便生成经修改的图像切片32。为了修改图像切片31,处理器首先识别图像切片31的与解剖腔对应的那部分,即,由扫描仪的扫描平面与解剖腔相交所形成的部分。(如上所述,在CT图像中,这些部分表现为空隙,诸如空隙36。)处理器然后用对应的解剖腔的壁的表征填充所识别的部分中的每个,从而给予每个解剖腔以三维外观。(换句话说,处理器将对应的解剖腔的三维(3D)视图叠加在图像的每个所识别的部分上)。例如,在经修改的图像切片32中,空隙36被鼻腔的壁的三维表征44替换,该鼻腔的壁在获取图像切片的位置的后面(即,相对于观看图像的人的视角,壁在扫描平面的后面)。然后处理器显示经修改的图像切片32,如上文参考图1所述。
更一般地,处理器可针对示出部分解剖腔的每个图像切片执行本文所述的修改。通常,在规程之前,处理器遍历所有相关图像切片(包括原始图像切片和导出的图像切片),并且如本文所述修改每个含腔的图像切片。随后,在规程期间,处理器连续地监测工具的位置,并且如果工具的位置已改变,则处理器可检索并显示穿过工具的新位置的一个或多个经修改的图像切片。(注意,处理器可另选地在紧接显示图像切片之前实时地如本文中所述那样修改图像切片。)
通常,处理器通过渲染腔的壁来计算表征44。首先,处理器从导出图像切片31的三维图像探知壁的形状。处理器然后使用任何合适的渲染技术来渲染壁。例如,处理器可用虚拟光源照明壁,并且根据定位在虚拟光源附近的虚拟摄像机的视图渲染壁。然后处理器用该渲染来替换图像切片31中的空隙。通常,壁以颜色进行渲染,以便于医生区分解剖腔和周围组织。
通常,处理器不修改图像切片31的其它部分,诸如图像切片的区域38。例如,处理器可不修改除对应于解剖腔的部分之外的图像切片的任何部分。因此,经修改的图像切片32通常是“混杂”图像,因为区域38以灰度被示为二维表面,而解剖腔的壁通常以颜色被渲染为三维表面。
现在具体参考图2底部的示意图,其重现了经修改的图像切片32的一部分。
通常,在经修改的图像切片32上,处理器还将表征体内工具28(具体为体内工具28的远侧端部)的图标40叠加在经修改的图像切片32的与体内工具在解剖腔内的位置对应的部分上。通常,处理器还在体内工具继续在体内工具指向的方向上朝壁移动的情况下将标记42叠加在表征44的与体内工具将遇到壁的位置对应的部分上。例如,处理器可从体内工具的远侧末端投影虚拟射线46,识别虚拟射线46遇到解剖腔的壁的位置,并且然后将标记42叠加在表征44的与该位置对应的那部分上。(虽然为了说明起见,在图2的示意性部分中示出虚拟射线46,但是应注意到,虚拟射线46通常在经修改的图像切片32中未示出)图标40和标记42通常有利于解剖腔内的工具的导航,因为例如图标40和标记42之间的距离指示工具与腔的壁的距离。
在一些实施方案中,显示完全三维图像(即,以三维完全渲染的图像),而不是经修改的图像切片32(如上所述,其仅部分以三维渲染),并且图标40和/或标记42被叠加在该图像中的解剖壁的表征上。
虽然本文的描述主要涉及CT图像,但是应当注意,本发明的实施方案也可应用于使用其它形式诸如磁共振成像(MRI)获取的图像。(在MRI图像中,解剖腔不一定表现为空隙,但通常是可识别的,使得它们可如本文所述那样被识别和修改。)
本领域技术人员应当理解,本发明不限于上文特别示出和描述的内容。相反,本发明实施方案的范围包括上文所述各种特征的组合与子组合两者,以及本领域的技术人员在阅读上述说明书时可能想到的未在现有技术范围内的变型和修改。以引用方式并入本专利申请的文献被视为本专利申请的整体部分,但是如果这些并入的文献中定义的任何术语与本说明书中明确或隐含地给出的定义相冲突,则应只考虑本说明书中的定义。
Claims (13)
1.一种医疗系统,包括:
显示器;以及
处理器,所述处理器被配置成:
通过以下操作来修改包括解剖腔的壁的表征的图像:
将表征体内工具的图标叠加在所述图像的与所述体内工具在所述解剖腔内的位置对应的部分上,以及
在所述体内工具继续在所述体内工具指向的方向上朝所述壁移动的情况下将标记叠加在所述壁的所述表征的与所述体内工具将遇到所述壁的位置对应的部分上,以及
在所述显示器上显示经修改的图像。
2.根据权利要求1所述的医疗系统,其中所述处理器被配置成通过从所述体内工具的远侧末端投影虚拟射线来识别所述体内工具将遇到所述壁的所述位置。
3.根据权利要求1所述的医疗系统,其中以三维渲染所述图像的至少一部分。
4.根据权利要求1所述的医疗系统,其中所述解剖腔是鼻窦。
5.根据权利要求1所述的医疗系统,其中所述解剖腔是鼻腔。
6.根据权利要求1所述的医疗系统,其中所述图像是计算机断层摄影(CT)图像。
7.根据权利要求1所述的医疗系统,其中所述图像是磁共振成像(MRI)图像。
8.一种有形非暂态计算机可读介质,其中存储有程序指令,所述程序指令在由处理器读取时,促使所述处理器:
通过以下操作来修改包括解剖腔的壁的表征的图像:
将表征体内工具的图标叠加在所述图像的与所述体内工具在所述解剖腔内的位置对应的部分上,以及
在所述体内工具继续在所述体内工具指向的方向上朝所述壁移动的情况下将标记叠加在所述壁的所述表征的与所述体内工具将遇到所述壁的位置对应的部分上;以及
显示经修改的图像。
9.根据权利要求8所述的有形非暂态计算机可读介质,其中所述程序指令还促使所述处理器通过从所述体内工具的远侧末端投影虚拟射线来识别所述体内工具将遇到所述壁的所述位置。
10.根据权利要求8所述的有形非暂态计算机可读介质,其中以三维渲染所述图像的至少一部分。
11.根据权利要求8所述的有形非暂态计算机可读介质,其中所述解剖腔是鼻窦。
12.根据权利要求8所述的有形非暂态计算机可读介质,其中所述图像是计算机断层摄影(CT)图像。
13.根据权利要求8所述的有形非暂态计算机可读介质,其中所述图像是磁共振成像(MRI)图像。
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